TY - GEN
T1 - Electromagnetic actuation system for locomotive intravascular therapeutic microrobot
AU - Choi, Hyunchul
AU - Go, Gwangjun
AU - Lee, Cheong
AU - Ko, Seong Young
AU - Jeong, Semi
AU - Kwon, Kiduk
AU - Park, Jong Oh
AU - Park, Sukho
PY - 2014/9/30
Y1 - 2014/9/30
N2 - In this paper, we proposed an intravascular therapeutic microrobot using an electromagnetic actuation (EMA) system with bi-plane X-ray imaging device. The proposed EMA system consists of Helmholtz-Maxwell coils, uniform-gradient saddle coils. The Helmholtz-Maxwell coils are located along y-axis, and uniform-gradient saddle coils are located perpendicular to y-axis. In order to align the microrobot along a desired angle in 2D (dimensional) plane, it is necessary to control of the currents on Helmholtz coil and uniform saddle coil. For a forward and backward direction movement of the microrobot, we precisely control the currents of Maxwell coil and gradient saddle coil. Because the saddle coils can be rotated around the y-axis, the effective actuation plane of the microrobot can be also rotated, and the microrobot can move in 3D space. In addition, for the position recognition of the microrobot in a blood vessel, we adopted a bi-plane X-ray fluoroscopy. If the saddle coils are rotated around the y-axis, an open area is changed. Therefore, the saddle coils and bi-plane X-ray fluoroscopy must be rotated simultaneously. To confirm the feasibility of 3D locomotion of the microrobot, we executed a locomotion test of the microrobot in the blood vessel phantom, where the blood vessel phantom was fabricated by the rendering data from computed tomography (CT) images of the iliac artery and 3D printer.
AB - In this paper, we proposed an intravascular therapeutic microrobot using an electromagnetic actuation (EMA) system with bi-plane X-ray imaging device. The proposed EMA system consists of Helmholtz-Maxwell coils, uniform-gradient saddle coils. The Helmholtz-Maxwell coils are located along y-axis, and uniform-gradient saddle coils are located perpendicular to y-axis. In order to align the microrobot along a desired angle in 2D (dimensional) plane, it is necessary to control of the currents on Helmholtz coil and uniform saddle coil. For a forward and backward direction movement of the microrobot, we precisely control the currents of Maxwell coil and gradient saddle coil. Because the saddle coils can be rotated around the y-axis, the effective actuation plane of the microrobot can be also rotated, and the microrobot can move in 3D space. In addition, for the position recognition of the microrobot in a blood vessel, we adopted a bi-plane X-ray fluoroscopy. If the saddle coils are rotated around the y-axis, an open area is changed. Therefore, the saddle coils and bi-plane X-ray fluoroscopy must be rotated simultaneously. To confirm the feasibility of 3D locomotion of the microrobot, we executed a locomotion test of the microrobot in the blood vessel phantom, where the blood vessel phantom was fabricated by the rendering data from computed tomography (CT) images of the iliac artery and 3D printer.
UR - https://www.scopus.com/pages/publications/84918579297
U2 - 10.1109/biorob.2014.6913882
DO - 10.1109/biorob.2014.6913882
M3 - Conference contribution
AN - SCOPUS:84918579297
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 831
EP - 834
BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
A2 - Carloni, Raffaella
A2 - Masia, Lorenzo
A2 - Sabater-Navarro, Jose Maria
A2 - Ackermann, Marko
A2 - Agrawal, Sunil
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Bianchi, Matteo
A2 - Lanari Bo, Antonio Padilha
A2 - Casadio, Maura
A2 - Cleary, Kevin
A2 - Deshpande, Ashish
A2 - Formica, Domenico
A2 - Fumagalli, Matteo
A2 - Garcia-Aracil, Nicolas
A2 - Godfrey, Sasha Blue
A2 - Khalil, Islam S.M.
A2 - Lambercy, Olivier
A2 - Loureiro, Rui C. V.
A2 - Mattos, Leonardo
A2 - Munoz, Victor
A2 - Park, Hyung-Soon
A2 - Rodriguez Cheu, Luis Eduardo
A2 - Saltaren, Roque
A2 - Siqueira, Adriano A. G.
A2 - Squeri, Valentina
A2 - Stienen, Arno H.A.
A2 - Tsagarakis, Nikolaos
A2 - Van der Kooij, Herman
A2 - Vanderborght, Bram
A2 - Vitiello, Nicola
A2 - Zariffa, Jose
A2 - Zollo, Loredana
PB - IEEE Computer Society
T2 - 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Y2 - 12 August 2014 through 15 August 2014
ER -